void SqicInterface::init() {
// Call the init method of the base class
Conic::init();
if (is_init_) sqicDestroy();
inf_ = 1.0e+20;
// Allocate data structures for SQIC
bl_.resize(n_+nc_+1, 0);
bu_.resize(n_+nc_+1, 0);
x_.resize(n_+nc_+1, 0);
hs_.resize(n_+nc_+1, 0);
hEtype_.resize(n_+nc_+1, 0);
pi_.resize(nc_+1, 0);
rc_.resize(n_+nc_+1, 0);
locH_ = st_[QP_STRUCT_H].colind();
indH_ = st_[QP_STRUCT_H].row();
// Fortran indices are one-based
for (int i=0;i<indH_.size();++i) indH_[i]+=1;
for (int i=0;i<locH_.size();++i) locH_[i]+=1;
// Sparsity of augmented linear constraint matrix
Sparsity A_ = vertcat(st_[QP_STRUCT_A], Sparsity::dense(1, n_));
locA_ = A_.colind();
indA_ = A_.row();
// Fortran indices are one-based
for (int i=0;i<indA_.size();++i) indA_[i]+=1;
for (int i=0;i<locA_.size();++i) locA_[i]+=1;
// helper functions for augmented linear constraint matrix
MX a = MX::sym("A", st_[QP_STRUCT_A]);
MX g = MX::sym("g", n_);
std::vector<MX> ins;
ins.push_back(a);
ins.push_back(g);
formatA_ = Function("formatA", ins, vertcat(a, g.T()));
// Set objective row of augmented linear constraints
bu_[n_+nc_] = inf_;
bl_[n_+nc_] = -inf_;
is_init_ = true;
int n = n_;
int m = nc_+1;
int nnzA=formatA_.size_out(0);
int nnzH=input(CONIC_H).size();
std::fill(hEtype_.begin()+n_, hEtype_.end(), 3);
sqic(&m , &n, &nnzA, &indA_[0], &locA_[0], &formatA_.output().nonzeros()[0], &bl_[0], &bu_[0],
&hEtype_[0], &hs_[0], &x_[0], &pi_[0], &rc_[0], &nnzH, &indH_[0], &locH_[0],
&input(CONIC_H).nonzeros()[0]);
}
SQICInternal::~SQICInternal() {
sqicDestroy();
}
SqicInterface::~SqicInterface() {
sqicDestroy();
}
StabilizedSqicInterface::~StabilizedSqicInterface() {
sqicDestroy();
}
